時変弾性係数を用いた他動底背屈時の足関節トルクの推定

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2022/03/01

タイトル(英語): Estimation of Ankle Torque in Passive Dorsiflexion and Plantar Flexion Using Time-Varying Elastic Coefficient

著者名: 長岡　佑馬（三重大学大学院工学研究科電気電子工学専攻），北俣　康介（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），弓場井　一裕（三重大学大学院工学研究科電気電子工学専攻），駒田　諭（三重大学大学院工学研究科電気電子工学専攻），武田　湖太郎（藤田医科大学保健衛生学部リハビリテーション学科）

著者名(英語): Yuma Nagaoka (Department of Electrical and Electronic Engineering, Mie University), Kosuke Kitabata (Department of Electrical and Electronic Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Mie University), Kotaro Takeda (Faculty of Rehabilitation, School of Healthcare, Fujita Health University)

キーワード: 足関節トルク，底背屈，他動運動，運動器，時変弾性係数，モータ制御　　ankle torque，dorsiflexion and plantar flexion，passive motion，musculoskeletal system，time-varying elastic coefficient，motor control

要約(英語): The resistance torques around the ankle joint differ between plantar flexion and dorsiflexion during passive movements at the same angle. Some conventional methods that have modeled the relationships between the joint angles and resistance torques using time-invariant elastic coefficients, which cannot account for the hysteresis property. Here, we propose a new modeling method using a time-varying elastic coefficient to represent the hysteresis of the ankle joint. In the present study, we used a custom-made motorized device to rotate the ankle joint passively and measured the joint angles and resistance torques from five healthy participants. By comparing the measured torques with the estimated values, we show that the proposed method can estimate the torque with less error than the conventional methods.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.142 No.3 （2022） 特集：半導体電力変換研究会

本誌掲載ページ: 232-240 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/142/3/142_232/_article/-char/ja/